#include "libfreenect.hpp"
#include <iostream>
#include <vector>
#include <cmath>
#include <pthread.h>
#include <cv.h>
#include <cxcore.h>
#include <highgui.h>

using namespace cv;
using namespace std;

class Mutex {
public:
	Mutex() {
		pthread_mutex_init( &m_mutex, NULL );
	}
	void lock() {
		pthread_mutex_lock( &m_mutex );
	}
	void unlock() {
		pthread_mutex_unlock( &m_mutex );
	}
private:
	pthread_mutex_t m_mutex;
};

class MyFreenectDevice : public Freenect::FreenectDevice {
public:
	MyFreenectDevice(freenect_context *_ctx, int _index)
		: Freenect::FreenectDevice(_ctx, _index), m_buffer_depth(FREENECT_DEPTH_11BIT_SIZE),m_buffer_rgb(FREENECT_VIDEO_RGB_SIZE), m_gamma(2048), m_new_rgb_frame(false), m_new_depth_frame(false),
		depthMat(Size(640,480),CV_16UC1), rgbMat(Size(640,480),CV_8UC3,Scalar(0)), ownMat(Size(640,480),CV_8UC3,Scalar(0))
	{
		for( unsigned int i = 0 ; i < 2048 ; i++) {
			float v = i/2048.0;
			v = std::pow(v, 3)* 6;
			m_gamma[i] = v*6*256;
		}
	}
	// Do not call directly even in child
	void VideoCallback(void* _rgb, uint32_t timestamp) {
		std::cout << "RGB callback" << std::endl;
		m_rgb_mutex.lock();
		uint8_t* rgb = static_cast<uint8_t*>(_rgb);
		rgbMat.data = rgb;
		m_new_rgb_frame = true;
		m_rgb_mutex.unlock();
	};
	// Do not call directly even in child
	void DepthCallback(void* _depth, uint32_t timestamp) {
		std::cout << "Depth callback" << std::endl;
		m_depth_mutex.lock();
		uint16_t* depth = static_cast<uint16_t*>(_depth);
		depthMat.data = (uchar*) depth;
		m_new_depth_frame = true;
		m_depth_mutex.unlock();
	}

	bool getVideo(Mat& output) {
		m_rgb_mutex.lock();
		if(m_new_rgb_frame) {
			cv::cvtColor(rgbMat, output, CV_RGB2BGR);
			m_new_rgb_frame = false;
			m_rgb_mutex.unlock();
			return true;
		} else {
			m_rgb_mutex.unlock();
			return false;
		}
	}

	bool getDepth(Mat& output) {
		m_depth_mutex.lock();
		if(m_new_depth_frame) {
			depthMat.copyTo(output);
			m_new_depth_frame = false;
			m_depth_mutex.unlock();
			return true;
		} else {
			m_depth_mutex.unlock();
			return false;
		}
	}

private:
	std::vector<uint8_t> m_buffer_depth;
	std::vector<uint8_t> m_buffer_rgb;
	std::vector<uint16_t> m_gamma;
	Mat depthMat;
	Mat rgbMat;
	Mat ownMat;
	Mutex m_rgb_mutex;
	Mutex m_depth_mutex;
	bool m_new_rgb_frame;
	bool m_new_depth_frame;
};



int main(int argc, char **argv) {
	bool die(false);
	string filename("snapshot");
	string suffix(".png");
	int i_snap(0),iter(0);

	Mat depthMat(Size(640,480),CV_16UC1);
	Mat depthf  (Size(640,480),CV_8UC1);
	Mat rgbMat(Size(640,480),CV_8UC3,Scalar(0));
	Mat ownMat(Size(640,480),CV_8UC3,Scalar(0));

	Freenect::Freenect freenect;
	MyFreenectDevice& device = freenect.createDevice<MyFreenectDevice>(0);

	namedWindow("rgb",CV_WINDOW_AUTOSIZE);
	namedWindow("depth",CV_WINDOW_AUTOSIZE);
	device.startVideo();
	device.startDepth();
	while (!die) {
		device.getVideo(rgbMat);
		device.getDepth(depthMat);
		cv::imshow("rgb", rgbMat);
		depthMat.convertTo(depthf, CV_8UC1, 255.0/2048.0);
		cv::imshow("depth",depthf);
		char k = cvWaitKey(5);
		if( k == 27 ){
			cvDestroyWindow("rgb");
			cvDestroyWindow("depth");
			break;
		}
		if( k == 8 ) {
			std::ostringstream file;
			file << filename << i_snap << suffix;
			cv::imwrite(file.str(),rgbMat);
			i_snap++;
		}
		if(iter >= 1000) break;
		iter++;
	}

	device.stopVideo();
	device.stopDepth();
	return 0;
}